U.S. patent number 11,200,530 [Application Number 15/681,847] was granted by the patent office on 2021-12-14 for object detection.
This patent grant is currently assigned to FORD GLOBAL TECHNOLOGIES, LLC. The grantee listed for this patent is Ford Global Technologies, LLC. Invention is credited to Pietro Buttolo, Paul Kenneth Dellock, Kristin Ann Hellman, Annette Lynn Huebner, Stuart C. Salter.
United States Patent |
11,200,530 |
Salter , et al. |
December 14, 2021 |
**Please see images for:
( Certificate of Correction ) ** |
Object detection
Abstract
An object is identified within a specified distance from a
vehicle. The object is assigned a position in the vehicle and the
object is detected in the position. Upon detecting the object in
the position, a vehicle component is actuated.
Inventors: |
Salter; Stuart C. (White Lake,
MI), Hellman; Kristin Ann (Walled Lake, MI), Buttolo;
Pietro (Dearborn Heights, MI), Huebner; Annette Lynn
(White Lake, MI), Dellock; Paul Kenneth (Northville,
MI) |
Applicant: |
Name |
City |
State |
Country |
Type |
Ford Global Technologies, LLC |
Dearborn |
MI |
US |
|
|
Assignee: |
FORD GLOBAL TECHNOLOGIES, LLC
(Dearborn, MI)
|
Family
ID: |
65235268 |
Appl.
No.: |
15/681,847 |
Filed: |
August 21, 2017 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20190057341 A1 |
Feb 21, 2019 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05D
1/0088 (20130101); G06Q 10/08 (20130101); G05D
1/0234 (20130101); G05D 1/0246 (20130101); G05D
2201/0213 (20130101); G06V 20/56 (20220101); G01S
17/931 (20200101) |
Current International
Class: |
G06Q
10/08 (20120101); G05D 1/02 (20200101); G05D
1/00 (20060101) |
Field of
Search: |
;701/28 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Tran; Khoi H
Assistant Examiner: King; Rodney P
Attorney, Agent or Firm: MacKenzie; Frank A. Bejin Bieneman
PLC
Claims
What is claimed is:
1. A method, comprising: identifying an object within a specified
distance of, and external to, a vehicle via a wireless protocol;
assigning the identified object to a storage bin, the storage bin
being within the vehicle and including a door; then actuating the
door of the storage bin to an opened state; detecting that the
object is in the storage bin based on a transceiver in the storage
bin receiving a transmission from a transmitter affixed to the
object; and upon detecting the object in the storage bin, actuating
a vehicle component.
2. The method of claim 1, further comprising identifying the object
according to one or more of an identifier transmitted via the
wireless protocol and an image provided by a vehicle image
sensor.
3. The method of claim 2, wherein assigning the identified object
to the storage bin in the vehicle includes comparing a
characteristic of the object with a characteristic of the storage
bin.
4. The method of claim 1, wherein the storage bin includes an
enclosed space formed of solid walls.
5. The method of claim 4, wherein one or more of the walls includes
a conductive layer configured to enhance the transmission from the
transmitter.
6. The method of claim 1, further comprising receiving, from the
transceiver in the position bin, a confirmation of the transmission
from the object transmitter.
7. The method of claim 1, wherein the vehicle component is one of a
powertrain, a brake, and a steering.
8. The method of claim 1, wherein the wireless protocol is
Bluetooth.RTM. Low Energy (BLE).
9. The system of claim 1, wherein the vehicle component is one of a
powertrain, a brake, and a steering.
10. A system, comprising a computer programmed to: identify an
object within a specified distance, and external to, a vehicle via
a wireless protocol; assign the identified object to a storage bin,
the storage bin being within the vehicle and including a door; then
actuate the door of the storage bin to an opened state; detect that
the object is in the storage bin based on a transceiver in the
storage bin receiving a transmission from a transmitter affixed to
the object; and upon detecting the object in the storage bin,
actuate a vehicle component.
11. The system of claim 10, wherein the computer is further
programmed to identify the object according to one or more of an
identifier transmitted via the wireless protocol and an image
provided by a vehicle image sensor.
12. The system of claim 11, wherein the computer is further
programmed to assign the identified object to the storage bin in
the vehicle by comparing a characteristic of the object with a
characteristic of the storage bin.
13. The system of claim 10, wherein the storage bin includes an
enclosed space formed of solid walls.
14. The system of claim 13, wherein one or more of the walls
includes a conductive layer configured to enhance the transmission
from the transmitter.
15. The system of claim 10, wherein the computer is further
programmed to receive, from the transceiver in the storage bin, a
confirmation of the transmission from the object transmitter.
16. The system of claim 10, wherein the wireless protocol is
Bluetooth.RTM. Low Energy (BLE).
17. A system, comprising a computer programmed to: identify an
object within a specified distance, and external to, a vehicle via
a wireless protocol; assign the identified object to a storage
position, the storage position being within the vehicle and being
accessible through a door; then actuate the door of the storage
position to an opened state; detect that the object is in the
storage position; and upon detecting the object in the storage
position, actuate a vehicle component, wherein the vehicle
component is one of a powertrain, a brake, and a steering.
Description
BACKGROUND
Vehicles can transport users and cargo to destinations. Upon
arriving at the vehicle, a user may possess an object, such as
luggage, that needs to be stored in the vehicle during transport.
In a driverless or autonomous vehicle, there may be no way to
communicate to the user an available position in the vehicle to
store the object or to determine if an object has been stored or
retrieved from its assigned location. Thus, a current problem in
autonomous vehicles is a lack of infrastructure for detecting
objects and managing positions of objects in the vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram of an example system for managing objects
in and near a vehicle.
FIG. 2 is a side view of an example position in an example
vehicle.
FIG. 3 is a perspective view of an example object.
FIG. 4 is a view of an example object and an example vehicle.
FIG. 5 is an example process for detecting the object within a
specified distance of a vehicle and assigning the object to the
position in the vehicle.
DETAILED DESCRIPTION
A system includes a computer programmed to identify an object
within a specified distance of, and external to, a vehicle via a
wireless protocol, assign the identified object to a position in
the vehicle, detect that the object is in the position, and upon
detecting the object in the position, actuate a vehicle
component.
The computer can be further programmed to identify the object
according to one or more of an identifier transmitted via the
wireless protocol and an image provided by a vehicle image
sensor.
The computer can be further programmed to assign the identified
object to the location in the vehicle by comparing a characteristic
of the object with a characteristic of the location.
The position can be a storage bin. The storage bin can include an
enclosed space formed of solid walls. One or more of the walls can
include a conductive layer. The computer can be further programmed
to receive, in a transceiver in the storage bin, a transmission
from a transmitter associated with the object. The computer can be
further programmed to receive, from the transceiver in the storage
bin, a confirmation of the transmission from the object
transmitter.
The vehicle component is one of a transmitter, a powertrain, a
brake, and a steering.
The wireless protocol is Bluetooth.RTM. Low Energy (BLE).
A method includes identifying an object within a specified distance
or, and external to, a vehicle via a wireless protocol, assigning
the identified object to a position in the vehicle, detecting that
the object is in the position, and upon detecting the object in in
the position, actuating a vehicle component.
The method can further include identifying the object according to
one or more of an identifier transmitted via the wireless protocol
and an image provided by a vehicle image sensor. Assigning the
identified object to the position in the vehicle includes comparing
a characteristic of the object with a characteristic of the
position.
The position can be a storage bin. The storage bin can include an
enclosed space formed of solid walls. One or more of the walls can
include a conductive layer. The method can further include
receiving, in a transceiver in the storage bin, a transmission from
a transmitter associated with the object. The method can further
include receiving, from the transceiver in the storage bin, a
confirmation of the transmission from the object transmitter.
Further disclosed is a computing device programmed to execute any
of the above method steps. Yet further disclosed is a vehicle
comprising the computing device. Yet further disclosed is a
computer program product, comprising a computer readable medium
storing instructions executable by a computer processor, to execute
any of the above method steps.
FIG. 1 illustrates an example system 100, including a computer 105
programmed to identify an object within a specified distance of,
and external to, a vehicle 101 and assign the object a position in
the vehicle 101. A computer 105 in the vehicle 101 is programmed to
receive collected data 115 from one or more sensors 110. For
example, vehicle 101 data 115 may include a location of the vehicle
101, a location of a target, etc. Location data may be in a known
form, e.g., geo-coordinates such as latitude and longitude
coordinates obtained via a navigation system, as is known, that
uses the Global Positioning System (GPS). Further examples of data
115 can include measurements of vehicle 101 systems and components,
e.g., a vehicle velocity, a vehicle trajectory, etc.
The computer 105 is generally programmed for communications on a
vehicle 101 network, e.g., including a communications bus, as is
known. Via the network, bus, and/or other wired or wireless
mechanisms (e.g., a wired or wireless local area network in the
vehicle 101), the computer 105 may transmit messages to various
devices in a vehicle 101 and/or receive messages from the various
devices, e.g., controllers, actuators, sensors, etc., including
sensors 110. Alternatively or additionally, in cases where the
computer 105 actually comprises multiple devices, the vehicle
network may be used for communications between devices represented
as the computer 105 in this disclosure. In addition, the computer
105 may be programmed for communicating with the network 125,
which, as described below, may include various wired and/or
wireless networking technologies, e.g., cellular, Bluetooth.RTM.,
Bluetooth.RTM. Low Energy (BLE), wired and/or wireless packet
networks, etc.
The data store 106 may be of any known type, e.g., hard disk
drives, solid state drives, servers, or any volatile or
non-volatile media. The data store 106 may store the collected data
115 sent from the sensors 110.
Sensors 110 may include a variety of devices. For example, as is
known, various controllers in a vehicle 101 may operate as sensors
110 to provide data 115 via the vehicle 101 network or bus, e.g.,
data 115 relating to vehicle speed, acceleration, position,
subsystem and/or component status, etc. Further, other sensors 110
could include cameras, motion detectors, etc., i.e., sensors 110 to
provide data 115 for evaluating a location of a target, projecting
a path of a target, evaluating a location of a roadway lane, etc.
The sensors 110 could also include short range radar, long range
radar, LIDAR, and/or ultrasonic transducers.
Collected data 115 may include a variety of data collected in a
vehicle 101. Examples of collected data 115 are provided above, and
moreover, data 115 are generally collected using one or more
sensors 110, and may additionally include data calculated therefrom
in the computer 105, and/or at the server 130. In general,
collected data 115 may include any data that may be gathered by the
sensors 110 and/or computed from such data.
The vehicle 101 may include a plurality of vehicle components 120.
As used herein, each vehicle component 120 includes one or more
hardware components adapted to perform a mechanical function or
operation--such as moving the vehicle, slowing or stopping the
vehicle, steering the vehicle, etc. Non-limiting examples of
components 120 include a propulsion component (that includes, e.g.,
an internal combustion engine and/or an electric motor, etc.), a
transmission component, a steering component (e.g., that may
include one or more of a steering wheel, a steering rack, etc.), a
brake component, a park assist component, an adaptive cruise
control component, an adaptive steering component, a storage bin, a
cargo compartment, and the like.
When the computer 105 operates the vehicle 101, the vehicle 101 is
an "autonomous" vehicle 101. For purposes of this disclosure, the
term "autonomous vehicle" is used to refer to a vehicle 101
operating in a fully autonomous mode. A fully autonomous mode is
defined as one in which each of vehicle 101 propulsion (typically
via a powertrain including an electric motor and/or internal
combustion engine), braking, and steering are controlled by the
computer 105. A semi-autonomous mode is one in which at least one
of vehicle 101 propulsion (typically via a powertrain including an
electric motor and/or internal combustion engine), braking, and
steering are controlled at least partly by the computer 105 as
opposed to a human operator.
The system 100 may further include a network 125 connected to a
server 130 and a data store 135. The computer 105 may further be
programmed to communicate with one or more remote sites such as the
server 130, via the network 125, such remote site possibly
including a data store 135. The network 125 represents one or more
mechanisms by which a vehicle computer 105 may communicate with a
remote server 130. Accordingly, the network 125 may be one or more
of various wired or wireless communication mechanisms, including
any desired combination of wired (e.g., cable and fiber) and/or
wireless (e.g., cellular, wireless, satellite, microwave, and radio
frequency) communication mechanisms and any desired network
topology (or topologies when multiple communication mechanisms are
utilized). Exemplary communication networks include wireless
communication networks (e.g., using Bluetooth.RTM., BLE, IEEE
802.11, vehicle-to-vehicle (V2V) such as Dedicated Short Range
Communications (DSRC), etc.), local area networks (LAN) and/or wide
area networks (WAN), including the Internet, providing data
communication services.
The vehicle 101 includes a plurality of storage positions,
exemplified in the present description by storage bins 140. The
storage bins 140 may be disposed in the vehicle 101 cabin and
supported by vehicle components, e.g., a floor, a seat, a roof,
etc. The storage bins 140 can house objects in the vehicle 101
during transit. The computer 105 can actuate a door 142 or hatch of
the storage bins 140 from a closed state to an opened state to
allow ingress and egress of the object. For example, upon detecting
an approaching object, the computer 105 can actuate the door 142 of
the storage bin 140 to the opened state to allow the user to store
the object in the storage bin 140. Prior to moving the vehicle 101
to the next destination, the computer 105 can actuate the door 142
of the storage bin 140 to the closed state after confirming the
object is in the storage bin 140, as set forth below.
A storage bin 140 may include a transceiver 145. The transceiver
145 is in communication with the computer 105 via the vehicle
network. The transceiver 145 can receive a message that the object
160 can transmit, e.g., the transmitter 165 can transmit the
message, as described further below. Upon detecting the message
from the object, the transceiver 145 can send a message to the
computer 105 to confirm the object is in the storage bin 140. The
transceiver 145 is implemented via antennas, circuits, chips, or
other electronic components that can facilitate wireless
communication. The transceiver 145 may be programmed to communicate
in accordance with any number of wired or wireless communication
protocols. For instance, the transceiver 145 may be programmed to
communicate in accordance with a satellite-communication protocol,
a cellular-based communication protocol (LTE, 3G, etc.),
Bluetooth.RTM., Bluetooth.RTM. Low Energy, Ethernet, the Controller
Area Network (CAN) protocol, WiFi, the Local Interconnect Network
(LIN) protocol, etc.
The system 100 may include a user device 150. As used herein, a
"user device" is a portable, computing device that includes a
memory, a processor, a display, and one or more input mechanisms,
such as a touchscreen, buttons, etc., as well as hardware and
software for wireless communications such as described herein.
Accordingly, the user device 150 may be any one of a variety of
computing devices including a processor and a memory, e.g., a
smartphone, a tablet, a personal digital assistant, etc. The user
device 150 may use the network 125 to communicate with the vehicle
computer 105. For example, the user device 150 can be
communicatively coupled to each other and/or to the vehicle
computer 105 with wireless technologies such as described above.
The user device 150 includes a user device processor 155.
The system 100 may include an object 160. The object may be any
object transportable in the vehicle 101 by the user. In other
words, the user may transfer the object 160 into the vehicle 101
and transport the object 160 to a desired location in the vehicle
101. For example, the object 160 may be luggage, a parcel, a crate,
or any other object 160 that the user may carry on to the vehicle
101.
A transmitter 165 may be affixed to the object 160, e.g., via
Velcro.RTM., glue, one or more fasteners such as rivets, staples,
bolts, string or rope, etc., or some other fastening means. The
transmitter 165 may, for example, be embedded in an object 160
surface such as a fabric cover and/or supported by the object 160
such that the transmitter 165 is transported, e.g., carried, with
the object 160. The transmitter 165 can be in communication with
the computer 105 as well as the transceiver 145 of the storage bin
140. For example, the transmitter 165 can be in communication with
the computer 105 and/or the transceiver 145 via the network 125.
The transmitter 165 can communicate directly with the computer 105,
i.e., with a communication that is transmitted or received without
an intervening device. For example, when the object 160 approaches
the vehicle 101, the transmitter 165 can send a transmission
directly to the computer 105 to allow the computer 105 to detect
the object 160. Additionally, or alternatively, the transmitter 165
can communicate indirectly with the computer 105, i.e., with a
communication that is transmitted or received via an intervening
device, e.g., the transceiver 145 of the storage bin 140. For
example, when the object 160 is placed in the storage bin 140, the
transmitter 165 can send the transmission indirectly to the
computer 105, e.g., the transmission can be relayed to the computer
105 through the transceiver 145, to confirm the object 160 is in
the storage bin 140. The transmitter 165 may be a radio
transmitter, a radar transmitter, an ultrasonic transmitter, and/or
a sonar transmitter.
The object 160 transmitter 165 can include an antenna to send a
transmission that can be received by, e.g., the computer 105 and/or
the transceiver 145. The transmission can include a carrier message
and an identifier unique to the object 160. The carrier message may
include a strength indicator, such as a Received Signal Strength
Indicator (RSSI). The transmission can include a radio wave
transmission, an encoded digital message, a modulated analog
message, etc. The transmitter 165 can include an electronic
oscillator to generate the carrier message. The identifier can
include information, e.g., a descriptor of the object 160,
characteristics of the object 160, etc., that can identify the
object 160. The transmitter 165 can include a modulator circuit to
combine the identifier with the carrier message, using known
modulation techniques, e.g., amplitude modulation, frequency
modulation, frequency-shift keying, e.g., shifting between two
frequencies to transmit digital data, etc. Upon detecting the
transmission, the computer 105 can decode the transmission, using
known decoding techniques, to identify the object 160, e.g., the
computer can identify the identifier in the transmission to
determine the descriptor and/or characteristic of the object
160.
FIG. 2 illustrates an example storage position in the vehicle 101.
A "storage position" is a space in the vehicle 101 in which an
object 160 can be stored or stowed, e.g., for travel. The computer
105 can maintain a list of storage positions in the vehicle 101
according to a three-dimensional Cartesian or other coordinate
system that can be mapped onto space within a vehicle body, e.g.,
passenger cabin, cargo compartment(s), etc. For example, the
computer 105 can maintain a list of possible storage positions
according to substantially unique identifiers for each position
and/or descriptors (e.g., "trunk," "under front passenger seat,"
etc.), along with a set of coordinates specifying a vehicle space
associated with each respective position, e.g., coordinate x, y, z,
triplets specifying vertices for a rectangular solid used to
specify the space that is the storage position. For example, the
storage position may be a storage bin 140 disposed in the vehicle
101 cabin. Alternatively, the storage position may be in the
vehicle cargo compartment, e.g., the trunk. The computer 105 can
store a set of Cartesian coordinates indicating a space of the
storage bin 140 and/or can store an identifier for the storage bin
140 that can likewise be associated with a transceiver 145 and/or
sensors in the storage bin 140 so that the storage position can be
monitored as described herein.
A storage position, such as a storage bin 140, includes an enclosed
space 146 formed of solid walls 144, e.g., the object may be stored
in the enclosed space 146. The walls 144 can extend around the
enclosed space 146 and support the storage bin 140. The walls 144
may, for example, be a solid surface, e.g., the walls 144 can be
metal or plastic, extending continuously around the enclosed space
146, e.g., each wall 144 may extend from one wall 144 to another
wall 144.
One or more of the walls 144 may be moveable relative to the other
walls 144. For example, the storage bin 140 may include a door 142
selectively moveable from the closed state to the opened state. The
door 142 may be hingedly attached to one wall 144. The computer 105
can actuate the door 142 from the closed state to the opened state
to allow ingress and egress of the object 160. For example, when
the vehicle 101 detects an approaching object 160, the computer 105
can actuate the door 142 to the opened state to allow the user to
store the object 160 in the storage bin 140. Prior to moving the
vehicle 101 to the next destination, the computer 105 can actuate
the door 142 to the closed state after confirming the object 160 is
in the storage bin 140.
One or more of the walls 144 can include a conductive layer 148
extending across the wall 144. The conductive layer 148 can be
configured to enhance a wireless message from the transmitter 165
associated with the object 160. For example, the conductive layer
148 can be metal, e.g., copper, aluminum, iron, etc., to degrade,
e.g., block, deflect, interfere with, etc., wireless messages from
outside sources, e.g., user devices 150 outside of the storage bin
140. As another example, the conductive layer 148 can be a
conductive plastic, e.g., polyacetylene, polyphenylene vinylene,
etc. When the conductive layer 148 degrades the wireless messages
from outside sources, the wireless message from the transmitter 165
associated with the object 160 may be relatively stronger than
wireless messages from the outside sources. (In this context, an
"outside source" is an RF transmission source outside of the
storage bin 140.) When the transceiver 145 receives the stronger
message in the storage bin 140, the computer 105 can confirm the
object 160 is disposed in the storage bin 140, e.g., the computer
105 can identify the message from the transmitter 165 associated
with the object 160 according to the relative strength of the
message from the transmitter 165.
The transceiver 145 can be disposed within the storage bin 140. For
example, the transceiver 145 may be attached to one wall 144 of the
storage bin 140. The transceiver 145 can identify the object 160 is
stored in the storage bin 140. For example, the transceiver 145 can
receive a message from the transmitter 165 of the object 160 when
the object 160 is disposed in the storage bin 140. The transceiver
145 can send a message to the computer 105 to confirm the object
160 is disposed in the storage bin 140. When the computer 105
receives the confirmation message, the computer 105 can actuate the
door 142 of the storage bin 140 to the closed state.
FIG. 3 illustrates an example object 160. The object 160 can be
luggage, e.g., a suitcase, a duffle bag, a backpack, a briefcase,
etc., that the user can transport in the vehicle 101. The object
160 can include the transmitter 165, e.g., the transmitter 165 is
affixed, e.g., via glue, VELCRO.RTM., wire, thread, and/or a rivet,
etc., to the object 160 prior to the user approaching the vehicle
101. Alternatively, the user can affix the transmitter 165 to the
object 160 when the user arrives at the vehicle 101, e.g., the
vehicle 101 can include transmitters 165 that the user can affix to
the object 160. The transmitter 165 can send a message identifying
the object 160 to the computer 105 and/or the transceiver 145. When
the computer receives the message from the transmitter 165 as the
object 160 approaches the vehicle 101, the computer can actuate the
door 142 of a storage bin 140 to the opened state. When the object
has been placed in a storage position, e.g., a storage bin 140, a
transceiver 145 in the storage bin 140 can receive the message from
the transmitter 165, and further the transceiver 145 can
communicate with the computer 105 via the network 125 to actuate
the door 142 of the storage bin 140 to the closed state.
FIG. 4 illustrates an example object and an example vehicle. The
vehicle 101 includes a plurality of seats 122. The seats 122
support the users of the vehicle 101 cabin. The seats 122 can be
arranged in the vehicle 101 cabin to accommodate users and objects
160, e.g., cargo, luggage, etc. The vehicle 101 can be an
autonomous service vehicle that can transport users and objects 160
to respective destinations.
The vehicle 101 may include a plurality of storage positions, e.g.,
storage bins 140. The storage positions can be spaces in the
vehicle 101 where objects 160 can be stored while the vehicle 101
is in transit. The positions can be arranged in the vehicle 101 to
accommodate users and objects 160. For example, the storage
positions can be one or more of the storage bins 140 and/or cargo
compartment(s), e.g., the trunk, of the vehicle 101. Each storage
position can be assigned to one of the seats 122. That is, each
user in the vehicle 101 can use one of the storage positions for
storing objects 160 while the vehicle 101 is in transit.
Alternatively or additionally, each storage position can be
associated with characteristics of the objects 160, as described
herein. The computer 105 can determine the specific storage
position, e.g., a specific storage bin 140, for each object 160 and
detect objects 160 in the storage positions. Thus, when one of the
users reaches the destination, the computer 105 can determine
whether the user has left one or more objects 160 in the respective
storage position.
The vehicle 101 can include a vehicle image sensor 110 for
capturing an image of the object 160. The vehicle image sensor 110
may be supported by the vehicle 101 and may face away from the
vehicle 101 to detect objects 160 external to the vehicle 101. The
vehicle image sensor 110 may be a camera that provides an image
from the visible light spectrum, whereby conventional image
analysis techniques can be used to detect the object 160. The
computer 105 can maintain a database of stored object images
according to characteristics of the object 160, i.e.,
characteristics that can be identified according to image
recognition techniques and used to determine a type of object 160.
For example, the computer 105 can maintain lists of possible
objects according to substantially unique identifiers for each
object type, and/or descriptors for each object type, e.g.,
"suitcase," "duffle bag," "laptop," etc. As another example, the
vehicle image sensor 110 may be a thermal imaging sensor, radar,
lidar, etc.
The computer 105 can determine that the object 160 is approaching
the vehicle 101 by receiving a message from the transmitter 165 via
a wireless protocol within a specified distance from the vehicle
101. The specified distance is a distance value stored in a memory
of the computer 105, and is determined as a distance from the
vehicle 101, e.g., a radius from a center point or some other point
within the vehicle 101, at which the object 160, when the object
160 is at or within the specified distance, is approaching the
vehicle 101. The specified distance may be configurable based on a
location of and/or environment surrounding the vehicle 101. For
example, the specified distance can be smaller in high density
areas, e.g., areas where multiple objects 160 may be relatively
close to the vehicle 101, than in low density areas to ensure
proper identification of the object 160. The vehicle 101 can
include a plurality of sensors, e.g., BLE proximity sensors, that
can detect the transmission from the transmitter 165 affixed to the
object 160 when the object 160 is within the specified distance.
For example, the computer 105 may be programmed to determine that
the object 160 is within the specified distance based on received
image data from the vehicle image sensor 110 with a field of view
that extends to the specified distance. As another example, the
computer 105 may be programmed to determine a signal strength
indicator, such as a Received Signal Strength Indicator (RSSI),
associated with the object 160 transmitter 165. Based on the signal
strength indicator, the computer 105 may determine that the object
160 is within the specified distance, e.g. the signal strength
indicator is above signal strength threshold. Additionally, or
alternatively, the user can reserve the position in the vehicle 101
for the object 160. For example, the user device 150 can send a
message via the wireless protocol to identify the object 160 to be
stored in the storage position and to ensure a storage position is
available for the object 160.
The wireless protocol may be any suitable wireless communication
protocol. For example, the wireless protocol may be Bluetooth.RTM.
Low Energy (BLE). Alternatively, the wireless protocol may be
Bluetooth.RTM., Wi-Fi, or any other suitable wireless
communication.
The computer 105 can identify the object 160 approaching the
vehicle upon detecting the transmission from the transmitter 165.
For example, the transmission can include the identifier, e.g., a
descriptor and/or characteristics of the object 160, that the
computer 105 can detect, e.g., the computer 105 can decode the
transmission, to identify the object 160. The computer 105 can
maintain a list of identifiers according to wireless communication
characteristics, e.g., frequency and amplitude, that can be
associated with different types of objects 160. For example, the
computer can maintain lists of possible objects according to
substantially unique identifiers for each object 160 and/or
descriptors, e.g., "suitcase," "duffle bag," "laptop," etc. After
detecting the message from the transmitter 165, the computer 105
can, using known processing techniques, compare the identifier to
the stored list to identify the object 160. As another example, the
computer 105 can identify the object 160 by an image captured by
the vehicle image sensor 110. After detecting the message from the
transmitter 165 within the specified distance, the computer 105 can
actuate the vehicle image sensor 110 to capture an image of the
object 160. The computer 105 can, using known processing
techniques, compare the image of the object 160 to a stored object
image to identify the object 160. After identifying the object 160,
the computer 105 can assign the object 160 to a storage bin
140.
The computer 105 can determine characteristics of the object 160.
An object characteristic is any physical property of the object
160. For example, objects characteristics can include dimensions of
the object 160, e.g., length, height, width, circumference, etc.,
as applicable. As another example, a characteristic may be a mass
or weight of the object 160. Additionally, or alternatively, the
characteristic may be material properties of the object 160. The
object 160 may, for example, contain hazardous material, whereby it
is desirable that a selected storage bin 140 be suited to store and
transport hazardous material. The vehicle 101 can include a
plurality of sensors, e.g., the vehicle image sensor 110, a weight
sensor disposed in a bin 140, etc., that can detect characteristics
of the object 160. Additionally, or alternatively, the user can
identify the characteristics of the object 160 via the user device
150.
The computer 105 can compare the characteristics of the object 160
to stored characteristics, i.e., physical properties and/or
capacities, of each storage bin 140 in the vehicle 101. The
characteristics of the storage bin 140 may be dimensions, e.g.,
length, width, and height, and object 160 restrictions, e.g.,
whether the object contains hazardous material. The computer 105
can assign the object 160 to the storage bin 140 when the
characteristic of the object 160 satisfies a constraint based on
the characteristic of the storage bin 140, e.g. airline carry-on
luggage requirements, hazardous material requirements, etc. When
the object 160 satisfies the constraint, the computer 105 can
assign the object 160 to an available storage bin 140, e.g., the
storage bin 140 associated with the seat 122 of the user, and can
actuate the door 142 of the storage bin 140 to the opened state.
Alternatively, if the object 160 exceeds constraint, then the
computer 105 can assign the object 160 to the cargo compartment of
the vehicle 101 and can actuate the door 142, e.g., the decklid, of
the cargo compartment to the opened state.
The computer 105 can actuate the vehicle 101 to proceed to a
destination, e.g., actuate a navigation component to navigate the
vehicle 101 to the destination and the propulsion component to
drive the vehicle 101 to the destination. When the object 160 is
stored in the storage bin 140, the transceiver 145 can receive the
transmission from the transmitter 165 and send a confirmation to
the computer 105 that the object 160 is in the storage bin 140. The
computer 105 can actuate the door 142 of the storage bin 140 to the
closed state when the computer 105 receives the confirmation from
the transceiver 145. When the door 142 of the storage bin 140 is in
the closed state, the computer 105 can actuate the vehicle
component 120 to drive the vehicle 101 to the destination.
The computer 105 can detect a user leaving the vehicle 101 based on
data from a user detection sensor 110, e.g., a weight sensor 110
installed in the seat 122. Alternatively or additionally, the user
detection sensor 110 can be some other a sensor known for use to
detect an occupant or user presence in a vehicle 101, e.g., a
camera, etc., as is known. For example, if the user detection
sensor 110 is a weight sensor, the computer 105 can compare
baseline data indicating that the seat 122 is unoccupied to a
threshold reading (e.g., a pressure reading) to collected pressure
data 115 to determine if the seat 122 is occupied or unoccupied.
Furthermore, when the computer 105 determines that the user is not
in the seat 122 upon arriving at the destination and that the user
was in the seat 122 at a time prior to arriving at the destination,
the computer 105 can determine that the user has left the seat
122.
The computer 105 can associate the storage position assigned to the
seat 122 to the user in the seat 122. Thus, upon detecting that the
user has left the seat 122, the computer 105 can search for objects
160 left in the storage position. For example, if the computer 105
assigned the user a storage bin 140 upon detecting an object 160,
the computer 105 can send a message to the user device 150
indicating the storage bin 140 and instructing the user to place
his or her object 160 in the storage bin 140. When the user leaves
the vehicle 101, e.g., determined based on a change of occupancy of
the seat 122 from occupied to unoccupied, the transceiver 145 can
send a message to the computer 105 upon receiving a message from an
object 160 transmitter 165 left in the storage bin 140.
The computer 105 can detect a user departure from the vehicle 101
by detecting a location of the user device 150. The vehicle 101 can
include a plurality of sensors 110, e.g., BLE proximity sensors,
that can detect a location of the user device 150 in the vehicle
101. The computer 105 can communicate with the user device 150 to
provide data about the location of the user device 150. When the
sensors 110 detect that the location of the user device 150 is
outside the vehicle 101 cabin, the computer 105 can determine that
the user that possesses the user device 150 is outside the vehicle
101 cabin, i.e., that user has departed the vehicle 101.
When the vehicle 101 stops at the destination, the computer 105 can
actuate the storage bin 140 to the opened state, and the
transceiver 145 can receive a message from a transmitter 165, e.g.,
an object 160, left in the storage bin 140 assigned to the user
departing at the destination. Upon receiving a message from the
transmitter 165 assigned to the departing user, the transceiver 145
can send a message to the computer 105, and the computer 105, upon
receiving the message from the transceiver 145, can send a message
to the user device 150 to remind the user to retrieve his or her
object 160. When the computer 105 identifies the object 160 in the
storage bin 140 based on the message received at the transceiver
145, the computer 105 can actuate output on the user device 150 to
so inform the user departing at the destination. For example, the
computer 105 can send a message to the user device 150, actuate a
haptic feedback device in the user device 150, flash a light in the
user device 150, actuate a speaker in the user device 150 to
produce an audio cue, etc. Alternatively, or additionally, the
computer 105 can actuate a visual display on the vehicle 101, e.g.,
a vehicle travel bar, e.g., an electronic sign affixed to the
vehicle 101 configurable to display information, e.g., a route, a
departure and/or arrival time, etc., to users of the vehicle 101.
The computer 105 can wait for a predetermined period of time
(stored in the data store and/or the server) and actuate the user
output after the period of time elapses at the destination, e.g.,
to give the user time to retrieve and depart with the object 160.
Additionally, the computer 105 can actuate the door 142 of the
storage bin 140 to the opened state. When the object 160 is removed
from the storage bin 140, the conductive layer 148 can degrade the
message sent by the transmitter 165 to the transceiver 145, e.g., a
message including the identifier of the object 160, to the
transceiver 145, i.e., the transmitter 165 is an outside source. In
this situation, the transceiver 145 can send a message to the
computer 105 to confirm that the object 160 is removed from the
storage bin 140. Upon confirming the object is removed from the
storage bin 140, the computer 105 can actuate the storage bin 140
to the closed state and can drive the vehicle to the next
destination.
FIG. 5 illustrates an example process for detecting the object 160
within a specified distance of the vehicle 101 and assigning the
object 160 to a storage position in the vehicle 101. The process
500 begins in a block 505, in which the computer 105 detects an
object 160 approaching the vehicle 101. As described above, the
computer 105 can detect when the object 160 is within a specified
distance of the vehicle 101, e.g., detecting a signal strength
indicator, e.g., RSSI, from the transmitter 165 above a signal
strength threshold, receiving a message from a user device 150,
etc. If the computer 105 detects the object 160 within the
specified distance, the process 500 continues in a block 510.
Otherwise, the process remains in the block 505.
In the block 510, the computer 105 actuates the vehicle image
sensor 120 to detect an image of the object 160 within the
specified distance. As set forth above, the computer 105 can
compare the captured image of the object 160 to identify
characteristics of the object 160, e.g., dimensions, weight, etc.
The vehicle image sensor 120 can have a field of view extending to
the specified distance to capture images of the object 160 within
the specified distance.
Next, in a block 515, the computer 105 assigns the object 160 to a
storage position in the vehicle 101, e.g., a storage bin 140
associated with a seat 122, a cargo compartment, i.e., the trunk,
etc. As set forth above, the computer 105 can determine the
characteristics of the object 160 and compare the characteristics
of the object 160 to the characteristics of a storage bin 140.
Based on the characteristics of the object 160, the computer 105
can assign the object 160 to a storage bin 140 capable for storing
the object 160 during transport. The computer 105 can actuate the
assigned storage bin 140 to the open position to allow stowage of
the object 160.
Next, in a block 520, the computer 105 registers the wireless
identifier of the object 160. As described above, the computer 105
can maintain a list of identifiers unique to an object 160. The
computer 105 can store the identifier of the object 160 to compare
the identifier to a message received from the transceiver 145, as
set forth below.
Next, in a block 525, the transceiver 145 can detect the object 160
in the assigned storage bin 140. As described above, the storage
bin 140 typically includes a conductive layer 148 that can degrade
messages from outside sources, e.g., a user device 150. When the
object 160 is stored in the assigned storage bin 140, the
transceiver 145 can detect the message from the transmitter 165,
e.g., the message can include the identifier of the object 160,
because the message is stronger relative to messages from the
outside sources. The transceiver 145 can send a confirmation
message, e.g., including the identifier of the object 160, to the
computer 105 that the object 160 is in the assigned storage bin
140. The computer 105 can compare the received identifier with the
identifier registered in the block 520 above to determine if the
object 160 is detected in the assigned storage bin 140. If the
object 160 is detected in the assigned storage bin 140, the process
500 continues to a block 540. Otherwise, the process 500 continues
to block 530.
In the block 530, the computer 105 actuates output to the user
device 150. For example, the computer 105 can send a message over
the network 125 to the user device 150. Alternatively or
additionally, the computer 105 can actuate a haptic device and/or a
light and/or an audio cue on the user device 150. As described
above, the message can indicate that the user has left the object
160 in the storage bin 140.
Next, in a block 535, the computer 105 detects whether the object
160 is in the storage bin 140. For example, the transceiver 145 can
detect a transmission from the transmitter 165 if the object is in
the storage bin 140, as described above. If the object 160 remains
in the storage bin 140, the process 500 returns to block 530.
Otherwise, the process 500 continues to block 540.
In the block 540, the vehicle 101 proceeds to a destination. For
example, the computer 105 can actuate vehicle 101 components, e.g.,
a propulsion component and a navigation component, to drive and
navigate the vehicle 101 to the destination.
In a block 545, the computer 105 can determine that the vehicle 101
arrived at the destination. The computer 105 can receive data 115,
for example, from a navigation component, to determine that the
vehicle 101 arrived at the destination. If the vehicle 101 arrived
at the destination, the process 500 can continue to a block 550.
Otherwise, the process remains at the block 545.
In the block 550, the computer 105 actuates output to the user
device 150. For example, the computer 105 can send a message over
the network 125 to the user device 150. Alternatively or
additionally, the computer 105 can actuate a haptic device and/or a
light and/or an audio cue on the user device 150. As described
above, the message can provide a reminder to the user to retrieve
object 160 from the storage bin 140.
Next, in a block 555, the computer 105 can detect a user departure
from the vehicle 101. As described above, the computer 105 can
detect the user leaving the vehicle 101 by, e.g., collecting data
115 from a user detection sensor 110 in a vehicle seat, arriving a
predetermined destination for the user, collecting visual data 115
about the user, detecting a user device 150 outside of the vehicle
101 cabin, shutting off the vehicle 101, etc. If the computer 105
detects a user departure, the process 500 continues in a block 560.
Otherwise, the process 500 remains in the block 555.
In the block 560, the computer 105 can determine that the object
160 was retrieved from the storage bin 140. As described above,
when the object 160 is removed from the storage bin 140, the
transceiver 145 can send a message to the computer 105. If the
object 160 was removed from the storage bin 140, the computer 105
can actuate the storage bin 140 to the closed position and the
process 500 ends. Otherwise, the process 500 returns to block 550
to remind the user to retrieve the object 160.
As used herein, the adverb "substantially" modifying an adjective
means that a shape, structure, measurement, value, calculation,
etc. may deviate from an exact described geometry, distance,
measurement, value, calculation, etc., because of imperfections in
materials, machining, manufacturing, data collector measurements,
computations, processing time, communications time, etc.
Computers 105 generally each include instructions executable by one
or more computers such as those identified above, and for carrying
out blocks or steps of processes described above.
Computer-executable instructions may be compiled or interpreted
from computer programs created using a variety of programming
languages and/or technologies, including, without limitation, and
either alone or in combination, Java.TM., C, C++, Visual Basic,
JavaScript, Perl, HTML, etc. In general, a processor (e.g., a
microprocessor) receives instructions, e.g., from a memory, a
computer-readable medium, etc., and executes these instructions,
thereby performing one or more processes, including one or more of
the processes described herein. Such instructions and other data
may be stored and transmitted using a variety of computer-readable
media. A file in the computer 105 is generally a collection of data
stored on a computer readable medium, such as a storage medium, a
random access memory, etc.
A computer-readable medium includes any medium that participates in
providing data (e.g., instructions), which may be read by a
computer. Such a medium may take many forms, including, but not
limited to, non-volatile media, volatile media, etc. Non-volatile
media include, for example, optical or magnetic disks and other
persistent memory. Volatile media include dynamic random access
memory (DRAM), which typically constitutes a main memory. Common
forms of computer-readable media include, for example, a floppy
disk, a flexible disk, hard disk, magnetic tape, any other magnetic
medium, a CD-ROM, DVD, any other optical medium, punch cards, paper
tape, any other physical medium with patterns of holes, a RAM, a
PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge,
or any other medium from which a computer can read.
With regard to the media, processes, systems, methods, etc.
described herein, it should be understood that, although the steps
of such processes, etc. have been described as occurring according
to a certain ordered sequence, such processes could be practiced
with the described steps performed in an order other than the order
described herein. It further should be understood that certain
steps could be performed simultaneously, that other steps could be
added, or that certain steps described herein could be omitted. For
example, in the process 500, one or more of the steps could be
omitted, or the steps could be executed in a different order than
shown in FIG. 5. In other words, the descriptions of systems and/or
processes herein are provided for the purpose of illustrating
certain embodiments, and should in no way be construed so as to
limit the disclosed subject matter.
Accordingly, it is to be understood that the present disclosure,
including the above description and the accompanying figures and
below claims, is intended to be illustrative and not restrictive.
Many embodiments and applications other than the examples provided
would be apparent to those of skill in the art upon reading the
above description. The scope of the invention should be determined,
not with reference to the above description, but should instead be
determined with reference to claims appended hereto and/or included
in a non-provisional patent application based hereon, along with
the full scope of equivalents to which such claims are entitled. It
is anticipated and intended that future developments will occur in
the arts discussed herein, and that the disclosed systems and
methods will be incorporated into such future embodiments. In sum,
it should be understood that the disclosed subject matter is
capable of modification and variation.
The article "a" modifying a noun should be understood as meaning
one or more unless stated otherwise, or context requires otherwise.
The phrase "based on" encompasses being partly or entirely based
on.
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